At that age, my two were allowed to play in the street, but had strict boundaries that they weren't allowed to go past. Most of the time I would be out with them or if not, I would watch from the window (the boundaries were based on what I could see from the window). They weren't allowed in other peoples houses or gardens without coming to ask me first. They were allowed to go on their scooters round the pavement, but if they wanted bikes on the road, then I would go out with them. I do believe that children need their freedom, but that has to be based on their age and common sense. I have gradually given them more freedom, and now at just turned 10 and nearly 9, they are allowed to cycle round our estate and visit a named group of friends. I have however taken them out cycling a lot so I am comfortable with their road sense. They are still not allowed to cross the main road. I'd have thought that at 6 with an older sister out with her, she would be fine to play in the street in general view, but not out of it.